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研究生： MUHAMMAD SYAHRIL MUBAROK
MUHAMMAD SYAHRIL MUBAROK
論文名稱： 含限制條件預測型控制應用在寬廣控速範圍的無轉軸偵測內藏式永磁同步電動機驅動系統
CONSTRAINED PREDICTIVE CONTROL FOR WIDE ADJUSTABLE SPEED SENSORLESS IPMSM DRIVE SYSTEMS
指導教授： 劉添華
Tian-Hua Liu
口試委員: 許源浴
Yuan-Yih Hsu
廖聰明
Chang-Ming Liaw
徐 國鎧
Kuo-Kai Shyu
楊勝明
Sheng-Ming Yang
陳偉倫
Woei-Luen Chen
劉益華
Yi-Hua Liu
劉添華
Tian-Hua Liu
學位類別： 博士
Doctor
系所名稱： 電資學院 - 電機工程系
Department of Electrical Engineering
論文出版年： 2023
畢業學年度： 111
語文別： 英文
論文頁數： 158
中文關鍵詞： 電流斜率法 、及時參數估測 、最大轉矩/安培控制 、弱磁控制 、含限制條件的預測型控制 、內藏式永磁同步電動機
外文關鍵詞： Current-slope method, on-line parameter estimation, MTPA, flux-weakening control, constrained predictive control, IPMSM
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    • TABLE OF CONTENTS ABSTRACT i 中文摘要 ii DEDICATION iii ACKNOWLEDGEMENTS iv TABLE OF CONTENTS v NOMENCLATURE ix LIST OF FIGURES xiv LIST OF TABLES xvii CHAPTER I INTRODUCTION 1 1.1 Background 1 1.2 Literature review 2 1.3 Contributions of the dissertation 4 1.4 Outline 5 CHAPTER II INTERIOR PERMANENT MAGNET SYNCHRONOUS MOTOR 6 2.1 Introduction 6 2.2 Structures and characteristics of PMSMs 6 2.2.1 Stator structures 7 2.2.2 Rotor Structures 8 2.3 Mathematical model of IPMSMs 10 2.3.1 Electrical model of IPMSMs 10 2.3.2 Mechanical model of IPMSMs 14 2.3.3 Equivalent circuit of IPMSMs 14 CHAPTER III CURRENT-SLOPE-BASED ROTOR POSITION ESTIMATION 16 3.1 Introduction 16 3.2 Inverter 17 Page 3.3 Space vector pulse-width modulation 18 3.4 SVPWM with an extension and compensation 21 3.5 Current-slope computations 22 3.6 Rotor position estimation 23 3.6.1 Computation of current-slopes 24 3.6.2 Estimation of rotor position 34 3.7 Rotor speed estimation 39 CHAPTER IV PARAMETER ESTIMATION OF IPMSMS 42 4.1 Introduction 42 4.2 Off-line parameter measurement of IPMSMs 43 4.2.1 The d-q axis inductance measurement 43 4.2.2 The permanent-magnet flux measurement 46 4.3 On-line parameter estimation of IPMSMs 47 4.3.1 The d-q axis inductance estimation 47 4.3.2 The permanent-magnet flux estimation 49 CHAPTER V MAXIMUM TORQUE/AMPERE CONTROL AND FLUX WEAKENING CONTROL 54 5.1 Introduction 54 5.2 Maximum torque/ampere control 54 5.3 Flux-weakening control 56 CHAPTER VI CONSTRAINED MODEL PREDICTIVE CONTROLLERS 60 6.1 Introduction 60 6.2 Constrained predictive current controller design 61 6.2.1 CPCC design for discrete model of IPMSMs 61 6.2.2 Augmented state-space current model of IPMSMs 65 6.2.3 The constraints for CPCC 69 6.3 Constrained predictive speed controller design 70 6.3.1 CPSC design for discrete model of IPMSMs 70 6.3.2 Augmented state-space speed model of IPMSMs 71 6.3.3 The constraints for CPSC 74 6.4 Optimization with input constraints 75 6.5 External load estimator 81 CHAPTER VII IMPLEMENTATION 85 7.1 Introduction 85 7.2 Hardware 86 7.2.1 Three-phase inverter 88 7.2.2 Gate drivers 88 7.2.3 Low-voltage DC power supply 89 7.2.4 Digital signal processor 89 7.2.4.1 CPU 90 7.2.4.2 Enhances PWM (EPWM) module 90 7.2.4.3 Enhances QEP (EQEP) module 91 7.2.4.4 Enhances analog-to-digital converter (ADC) module 91 7.2.4.5 Serial peripheral interface (SPI) module 91 7.2.5 Current sensing circuit 91 7.2.6 A/D converter 92 7.2.7 Encoder circuit 93 7.3 Software algorithms 93 7.3.1 Main program 94 7.3.2 Interrupt programs 95 CHAPTER VIII EXPERIMENTAL RESULTS 100 8.1 Introduction 100 8.2 Experimental results 101 8.2.1 Rotor position estimation and speed estimation 101 8.2.2 Parameter estimation 107 8.2.3 MTPA control and flux-weakening control 111 8.2.4 Constrained predictive controllers 114 CHAPTER IX CONCLUSIONS AND FUTURE RESEARCH 127 9.1 Conclusions 127 9.2 Future research 128 REFERENCES 129

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